Merge pull request #206 from kliment/experimental
Merge experimental into master
This commit is contained in:
kliment
commit
de2feb0cac
13 changed files with 1137 additions and 355 deletions
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@ -7,6 +7,7 @@
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// MEGA/RAMPS up to 1.2 = 3,
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// RAMPS 1.3/1.4 = 33
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// Gen6 = 5,
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// Gen6 deluxe = 51
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// Sanguinololu up to 1.1 = 6
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// Sanguinololu 1.2 and above = 62
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// Gen 7 @ 16MHZ only= 7
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@ -152,6 +153,10 @@ const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z,
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#define MAX_STEP_FREQUENCY 30000 // Max step frequency
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//For the retract (negative Extruder) move this maxiumum Limit of Feedrate is used
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//The next positive Extruder move use also this Limit,
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//then for the next (second after retract) move the original Maximum (_MAX_FEEDRATE) Limit is used
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#define MAX_RETRACT_FEEDRATE 100 //mm/sec
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//-----------------------------------------------------------------------
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//// Not used at the Moment
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@ -166,7 +171,9 @@ const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z,
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//#define STEP_DELAY_RATIO 0.25
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///Oscillation reduction. Forces x,y,or z axis to be stationary for ## ms before allowing axis to switch direcitons. Alternative method to prevent skipping steps. Uncomment the line below to activate.
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// At this Version with Planner this Function ist not used
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//#define RAPID_OSCILLATION_REDUCTION
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#ifdef RAPID_OSCILLATION_REDUCTION
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const long min_time_before_dir_change = 30; //milliseconds
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#endif
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@ -179,6 +186,7 @@ const long min_time_before_dir_change = 30; //milliseconds
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#define _RETRACT_ACCELERATION 2000 // Extruder Normal acceleration mm/s^2
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#define _MAX_XY_JERK 20.0
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#define _MAX_Z_JERK 0.4
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#define _MAX_E_JERK 5.0 // (mm/sec)
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//#define _MAX_START_SPEED_UNITS_PER_SECOND {25.0,25.0,0.2,10.0}
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#define _MAX_ACCELERATION_UNITS_PER_SQ_SECOND {5000,5000,50,5000} // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
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@ -186,11 +194,13 @@ const long min_time_before_dir_change = 30; //milliseconds
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// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
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// of the buffer and all stops. This should not be much greater than zero and should only be changed
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// if unwanted behavior is observed on a user's machine when running at very slow speeds.
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#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
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#define MINIMUM_PLANNER_SPEED 0.05 // (mm/sec)
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#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate
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#define DEFAULT_MINTRAVELFEEDRATE 0.0
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#define _MIN_SEG_TIME 20000
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// If defined the movements slow down when the look ahead buffer is only half full
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#define SLOWDOWN
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@ -230,6 +240,26 @@ const int dropsegments=5; //everything with less than this number of steps will
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//After this count of steps a new SIN / COS caluclation is startet to correct the circle interpolation
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#define N_ARC_CORRECTION 25
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//-----------------------------------------------------------------------
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//// FANCONTROL WITH SOFT PWM
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//-----------------------------------------------------------------------
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//With this option its possible to drive the fan with SOFT PWM (500hz) and use
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//every Digital output for it, main usage for Sanguinololu
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#define FAN_SOFT_PWM
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//-----------------------------------------------------------------------
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//// MINIMUM START SPEED FOR FAN
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//-----------------------------------------------------------------------
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//Minimum start speed for FAN when the last speed was zero
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//Set to 0 to deaktivate
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//If value is set the fan will drive with this minimum speed for MINIMUM_FAN_START_TIME
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#define MINIMUM_FAN_START_SPEED 0
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//This is the time how long the minimum FAN speed is set
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#define MINIMUM_FAN_START_TIME 6000 //6sec
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//-----------------------------------------------------------------------
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//// HEATERCONTROL AND PID PARAMETERS
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//-----------------------------------------------------------------------
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@ -261,6 +291,10 @@ const int dropsegments=5; //everything with less than this number of steps will
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//Command M601 / Command M602 Reset the MIN/MAX Value
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//#define DEBUG_HEATER_TEMP
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// M303 - PID relay autotune S<temperature> sets the target temperature.
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// (default target temperature = 150C)
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#define PID_AUTOTUNE
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//PID Controler Settings
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#define PID_INTEGRAL_DRIVE_MAX 80 // too big, and heater will lag after changing temperature, too small and it might not compensate enough for long-term errors
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#define PID_PGAIN 2560 //256 is 1.0 // value of X means that error of 1 degree is changing PWM duty by X, probably no need to go over 25
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@ -274,7 +308,7 @@ const int dropsegments=5; //everything with less than this number of steps will
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#define LED_PWM_FOR_BRIGHTNESS(brightness) ((64*brightness-1384)/(300-brightness))
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#endif
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// Change this value (range 1-255) to limit the current to the nozzle
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// Change this value (range 30-255) to limit the current to the nozzle
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#define HEATER_CURRENT 255
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// How often should the heater check for new temp readings, in milliseconds
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@ -331,6 +365,11 @@ const int dropsegments=5; //everything with less than this number of steps will
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//#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function
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#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run
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//This is for controlling a fan that will keep the extruder cool.
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//#define EXTRUDERFAN_PIN 66 //Pin used to control the fan, comment out to disable this function
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#define EXTRUDERFAN_DEC 50 //Hotend temperature from where the fan will be turned on
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//#define CHAIN_OF_COMMAND 1 //Finish buffered moves before executing M42, fan speed, heater target, and so...
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//-----------------------------------------------------------------------
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// DEBUGING
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@ -17,7 +17,11 @@
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* along with the Arduino Sd2Card Library. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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#if defined(ARDUINO) && ARDUINO >= 100
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#include <Arduino.h>
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#else
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#include <WProgram.h>
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#endif
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#include "Sd2Card.h"
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//------------------------------------------------------------------------------
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#ifndef SOFTWARE_SPI
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@ -23,7 +23,11 @@
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* \file
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* Useful utility functions.
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*/
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#if defined(ARDUINO) && ARDUINO >= 100
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#include <Arduino.h>
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#else
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#include <WProgram.h>
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#endif
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#include <avr/pgmspace.h>
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/** Store and print a string in flash memory.*/
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#define PgmPrint(x) SerialPrint_P(PSTR(x))
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@ -19,7 +19,11 @@
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*/
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#include "SdFat.h"
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#include <avr/pgmspace.h>
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#if defined(ARDUINO) && ARDUINO >= 100
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#include <Arduino.h>
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#else
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#include <WProgram.h>
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#endif
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//------------------------------------------------------------------------------
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// callback function for date/time
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void (*SdFile::dateTime_)(uint16_t* date, uint16_t* time) = NULL;
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@ -123,6 +123,10 @@ void check_buffer_while_arc();
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void print_disk_info(void);
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#endif //SDSUPPORT
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#if (MINIMUM_FAN_START_SPEED > 0)
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void manage_fan_start_speed(void);
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#endif
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#ifdef DEBUG
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void log_message(char* message);
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void log_bool(char* message, bool value);
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File diff suppressed because it is too large
Load diff
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@ -50,6 +50,8 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
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float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
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if (millimeters_of_travel < 0.001) { return; }
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uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
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if(segments == 0) segments = 1;
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/*
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// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
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// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
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@ -32,6 +32,10 @@
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void controllerFan(void);
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#endif
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#ifdef EXTRUDERFAN_PIN
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void extruderFan(void);
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#endif
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// Manage heater variables. For a thermistor or AD595 thermocouple, raw values refer to the
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// reading from the analog pin. For a MAX6675 thermocouple, the raw value is the temperature in 0.25
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// degree increments (i.e. 100=25 deg).
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@ -50,8 +54,8 @@ unsigned long previous_millis_heater, previous_millis_bed_heater, previous_milli
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#ifdef PIDTEMP
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volatile unsigned char g_heater_pwm_val = 0;
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unsigned char PWM_off_time = 0;
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unsigned char PWM_out_on = 0;
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//unsigned char PWM_off_time = 0;
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//unsigned char PWM_out_on = 0;
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int temp_iState = 0;
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int temp_dState = 0;
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@ -62,11 +66,15 @@ unsigned long previous_millis_heater, previous_millis_bed_heater, previous_milli
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//int output;
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int error;
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int heater_duty = 0;
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const int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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const int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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#endif
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#if defined(FAN_SOFT_PWM) && (FAN_PIN > -1)
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volatile unsigned char g_fan_pwm_val = 0;
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#endif
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#ifdef AUTOTEMP
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float autotemp_max=AUTO_TEMP_MAX;
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float autotemp_min=AUTO_TEMP_MIN;
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@ -155,90 +163,348 @@ int read_max6675()
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#endif
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#ifdef PID_SOFT_PWM
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//------------------------------------------------------------------------
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// Soft PWM for Heater and FAN
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//------------------------------------------------------------------------
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#if defined(PID_SOFT_PWM) || (defined(FAN_SOFT_PWM) && (FAN_PIN > -1))
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void init_Timer2_softpwm(void)
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{
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// This is a simple SOFT PWM with 500 Hz for Extruder Heating
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TIFR2 = (1 << TOV2); // clear interrupt flag
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TCCR2B = (1 << CS22) | (1 << CS20); // start timer (ck/128 prescalar)
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TCCR2A = (1 << WGM21); // CTC mode
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OCR2A = 128; // We want to have at least 30Hz or else it gets choppy
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TIMSK2 = (1 << OCIE2A); // enable timer2 output compare match interrupt
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TCCR2A = 0;//(1 << WGM21); // Normal mode
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TIMSK2 |= (1 << TOIE2);
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#ifdef PID_SOFT_PWM
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OCR2A = 128; // We want to have at least 500Hz or else it gets choppy
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TIMSK2 |= (1 << OCIE2A); // enable timer2 output compare match interrupt
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#endif
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#if defined(FAN_SOFT_PWM) && (FAN_PIN > -1)
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OCR2B = 128; // We want to have at least 500Hz or else it gets choppy
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TIMSK2 |= (1 << OCIE2B); // enable timer2 output compare match interrupt
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#endif
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}
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#endif
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ISR(TIMER2_COMPA_vect)
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{
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if(g_heater_pwm_val < 2)
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{
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#if LED_PIN > -1
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WRITE(LED_PIN,LOW);
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#endif
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WRITE(HEATER_0_PIN,LOW);
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PWM_out_on = 0;
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OCR2A = 128;
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}
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else if(g_heater_pwm_val > 253)
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#if defined(PID_SOFT_PWM) || (defined(FAN_SOFT_PWM) && (FAN_PIN > -1))
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ISR(TIMER2_OVF_vect)
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{
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//--------------------------------------
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// Soft PWM, Heater, start PWM cycle
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//--------------------------------------
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#ifdef PID_SOFT_PWM
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if(g_heater_pwm_val >= 2)
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{
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#if LED_PIN > -1
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WRITE(LED_PIN,HIGH);
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#endif
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WRITE(HEATER_0_PIN,HIGH);
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PWM_out_on = 1;
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OCR2A = 128;
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if(g_heater_pwm_val <= 253)
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OCR2A = g_heater_pwm_val;
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else
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OCR2A = 192;
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}
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else
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{
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if(PWM_out_on == 1)
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{
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#if LED_PIN > -1
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WRITE(LED_PIN,LOW);
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#endif
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WRITE(HEATER_0_PIN,LOW);
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PWM_out_on = 0;
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OCR2A = PWM_off_time;
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}
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else
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{
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#if LED_PIN > -1
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WRITE(LED_PIN,HIGH);
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#endif
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WRITE(HEATER_0_PIN,HIGH);
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PWM_out_on = 1;
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if(g_heater_pwm_val > 253)
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{
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OCR2A = 253;
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PWM_off_time = 2;
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}
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else if(g_heater_pwm_val < 2)
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{
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OCR2A = 2;
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PWM_off_time = 253;
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}
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else
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{
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OCR2A = g_heater_pwm_val;
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PWM_off_time = 255 - g_heater_pwm_val;
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}
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|
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}
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#if LED_PIN > -1
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WRITE(LED_PIN,LOW);
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#endif
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WRITE(HEATER_0_PIN,LOW);
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OCR2A = 192;
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}
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|
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#endif
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|
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//--------------------------------------
|
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// Soft PWM, Fan, start PWM cycle
|
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//--------------------------------------
|
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#if defined(FAN_SOFT_PWM) && (FAN_PIN > -1)
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if(g_fan_pwm_val >= 2)
|
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{
|
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#if (FAN_PIN > -1)
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WRITE(FAN_PIN,HIGH);
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#endif
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|
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if(g_fan_pwm_val <= 253)
|
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OCR2B = g_fan_pwm_val;
|
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else
|
||||
OCR2B = 128;
|
||||
}
|
||||
else
|
||||
{
|
||||
#if (FAN_PIN > -1)
|
||||
WRITE(FAN_PIN,LOW);
|
||||
#endif
|
||||
|
||||
OCR2B = 128;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef PID_SOFT_PWM
|
||||
ISR(TIMER2_COMPA_vect)
|
||||
{
|
||||
|
||||
|
||||
if(g_heater_pwm_val > 253)
|
||||
{
|
||||
#if LED_PIN > -1
|
||||
WRITE(LED_PIN,HIGH);
|
||||
#endif
|
||||
WRITE(HEATER_0_PIN,HIGH);
|
||||
}
|
||||
else
|
||||
{
|
||||
#if LED_PIN > -1
|
||||
WRITE(LED_PIN,LOW);
|
||||
#endif
|
||||
WRITE(HEATER_0_PIN,LOW);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#if defined(FAN_SOFT_PWM) && (FAN_PIN > -1)
|
||||
ISR(TIMER2_COMPB_vect)
|
||||
{
|
||||
|
||||
|
||||
if(g_fan_pwm_val > 253)
|
||||
{
|
||||
#if (FAN_PIN > -1)
|
||||
WRITE(FAN_PIN,HIGH);
|
||||
#endif
|
||||
}
|
||||
else
|
||||
{
|
||||
#if (FAN_PIN > -1)
|
||||
WRITE(FAN_PIN,LOW);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
#endif
|
||||
//--------------------END SOFT PWM---------------------------
|
||||
|
||||
//-------------------- START PID AUTOTUNE ---------------------------
|
||||
// Based on PID relay test
|
||||
// Thanks to Erik van der Zalm for this idea to use it for Marlin
|
||||
// Some information see:
|
||||
// http://brettbeauregard.com/blog/2012/01/arduino-pid-autotune-library/
|
||||
//------------------------------------------------------------------
|
||||
#ifdef PID_AUTOTUNE
|
||||
void PID_autotune(int PIDAT_test_temp)
|
||||
{
|
||||
float PIDAT_input = 0;
|
||||
int PIDAT_input_help = 0;
|
||||
unsigned char PIDAT_count_input = 0;
|
||||
|
||||
float PIDAT_max, PIDAT_min;
|
||||
|
||||
unsigned char PIDAT_PWM_val = HEATER_CURRENT;
|
||||
|
||||
unsigned char PIDAT_cycles=0;
|
||||
bool PIDAT_heating = true;
|
||||
|
||||
unsigned long PIDAT_temp_millis = millis();
|
||||
unsigned long PIDAT_t1=PIDAT_temp_millis;
|
||||
unsigned long PIDAT_t2=PIDAT_temp_millis;
|
||||
unsigned long PIDAT_T_check_AI_val = PIDAT_temp_millis;
|
||||
|
||||
unsigned char PIDAT_cycle_cnt = 0;
|
||||
|
||||
long PIDAT_t_high;
|
||||
long PIDAT_t_low;
|
||||
|
||||
long PIDAT_bias= HEATER_CURRENT/2;
|
||||
long PIDAT_d = HEATER_CURRENT/2;
|
||||
|
||||
float PIDAT_Ku, PIDAT_Tu;
|
||||
float PIDAT_Kp, PIDAT_Ki, PIDAT_Kd;
|
||||
|
||||
#define PIDAT_TIME_FACTOR ((HEATER_CHECK_INTERVAL*256.0) / 1000.0)
|
||||
|
||||
showString(PSTR("PID Autotune start\r\n"));
|
||||
|
||||
target_temp = PIDAT_test_temp;
|
||||
|
||||
#ifdef BED_USES_THERMISTOR
|
||||
WRITE(HEATER_1_PIN,LOW);
|
||||
#endif
|
||||
|
||||
for(;;)
|
||||
{
|
||||
|
||||
if((millis() - PIDAT_T_check_AI_val) > 100 )
|
||||
{
|
||||
PIDAT_T_check_AI_val = millis();
|
||||
PIDAT_cycle_cnt++;
|
||||
|
||||
#ifdef HEATER_USES_THERMISTOR
|
||||
current_raw = analogRead(TEMP_0_PIN);
|
||||
current_raw = 1023 - current_raw;
|
||||
PIDAT_input_help += analog2temp(current_raw);
|
||||
PIDAT_count_input++;
|
||||
#elif defined HEATER_USES_AD595
|
||||
current_raw = analogRead(TEMP_0_PIN);
|
||||
PIDAT_input_help += analog2temp(current_raw);
|
||||
PIDAT_count_input++;
|
||||
#elif defined HEATER_USES_MAX6675
|
||||
current_raw = read_max6675();
|
||||
PIDAT_input_help += analog2temp(current_raw);
|
||||
PIDAT_count_input++;
|
||||
#endif
|
||||
}
|
||||
|
||||
if(PIDAT_cycle_cnt >= 10 )
|
||||
{
|
||||
|
||||
PIDAT_cycle_cnt = 0;
|
||||
|
||||
PIDAT_input = (float)PIDAT_input_help / (float)PIDAT_count_input;
|
||||
PIDAT_input_help = 0;
|
||||
PIDAT_count_input = 0;
|
||||
|
||||
PIDAT_max=max(PIDAT_max,PIDAT_input);
|
||||
PIDAT_min=min(PIDAT_min,PIDAT_input);
|
||||
|
||||
if(PIDAT_heating == true && PIDAT_input > PIDAT_test_temp)
|
||||
{
|
||||
if(millis() - PIDAT_t2 > 5000)
|
||||
{
|
||||
PIDAT_heating = false;
|
||||
PIDAT_PWM_val = (PIDAT_bias - PIDAT_d);
|
||||
PIDAT_t1 = millis();
|
||||
PIDAT_t_high = PIDAT_t1 - PIDAT_t2;
|
||||
PIDAT_max = PIDAT_test_temp;
|
||||
}
|
||||
}
|
||||
|
||||
if(PIDAT_heating == false && PIDAT_input < PIDAT_test_temp)
|
||||
{
|
||||
if(millis() - PIDAT_t1 > 5000)
|
||||
{
|
||||
PIDAT_heating = true;
|
||||
PIDAT_t2 = millis();
|
||||
PIDAT_t_low = PIDAT_t2 - PIDAT_t1;
|
||||
|
||||
if(PIDAT_cycles > 0)
|
||||
{
|
||||
PIDAT_bias += (PIDAT_d*(PIDAT_t_high - PIDAT_t_low))/(PIDAT_t_low + PIDAT_t_high);
|
||||
PIDAT_bias = constrain(PIDAT_bias, 20 ,HEATER_CURRENT - 20);
|
||||
if(PIDAT_bias > (HEATER_CURRENT/2)) PIDAT_d = (HEATER_CURRENT - 1) - PIDAT_bias;
|
||||
else PIDAT_d = PIDAT_bias;
|
||||
|
||||
showString(PSTR(" bias: ")); Serial.print(PIDAT_bias);
|
||||
showString(PSTR(" d: ")); Serial.print(PIDAT_d);
|
||||
showString(PSTR(" min: ")); Serial.print(PIDAT_min);
|
||||
showString(PSTR(" max: ")); Serial.println(PIDAT_max);
|
||||
|
||||
if(PIDAT_cycles > 2)
|
||||
{
|
||||
PIDAT_Ku = (4.0*PIDAT_d)/(3.14159*(PIDAT_max-PIDAT_min));
|
||||
PIDAT_Tu = ((float)(PIDAT_t_low + PIDAT_t_high)/1000.0);
|
||||
|
||||
showString(PSTR(" Ku: ")); Serial.print(PIDAT_Ku);
|
||||
showString(PSTR(" Tu: ")); Serial.println(PIDAT_Tu);
|
||||
|
||||
PIDAT_Kp = 0.60*PIDAT_Ku;
|
||||
PIDAT_Ki = 2*PIDAT_Kp/PIDAT_Tu;
|
||||
PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/8;
|
||||
showString(PSTR(" Clasic PID \r\n"));
|
||||
//showString(PSTR(" Kp: ")); Serial.println(PIDAT_Kp);
|
||||
//showString(PSTR(" Ki: ")); Serial.println(PIDAT_Ki);
|
||||
//showString(PSTR(" Kd: ")); Serial.println(PIDAT_Kd);
|
||||
showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256));
|
||||
showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR));
|
||||
showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR));
|
||||
|
||||
PIDAT_Kp = 0.30*PIDAT_Ku;
|
||||
PIDAT_Ki = PIDAT_Kp/PIDAT_Tu;
|
||||
PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/3;
|
||||
showString(PSTR(" Some overshoot \r\n"));
|
||||
showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256));
|
||||
showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR));
|
||||
showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR));
|
||||
/*
|
||||
PIDAT_Kp = 0.20*PIDAT_Ku;
|
||||
PIDAT_Ki = 2*PIDAT_Kp/PIDAT_Tu;
|
||||
PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/3;
|
||||
showString(PSTR(" No overshoot \r\n"));
|
||||
showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256));
|
||||
showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR));
|
||||
showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR));
|
||||
*/
|
||||
}
|
||||
}
|
||||
PIDAT_PWM_val = (PIDAT_bias + PIDAT_d);
|
||||
PIDAT_cycles++;
|
||||
PIDAT_min = PIDAT_test_temp;
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef PID_SOFT_PWM
|
||||
g_heater_pwm_val = PIDAT_PWM_val;
|
||||
#else
|
||||
analogWrite_check(HEATER_0_PIN, PIDAT_PWM_val);
|
||||
#if LED_PIN>-1
|
||||
analogWrite_check(LED_PIN, PIDAT_PWM_val);
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
if((PIDAT_input > (PIDAT_test_temp + 55)) || (PIDAT_input > 255))
|
||||
{
|
||||
showString(PSTR("PID Autotune failed! Temperature to high\r\n"));
|
||||
target_temp = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
if(millis() - PIDAT_temp_millis > 2000)
|
||||
{
|
||||
PIDAT_temp_millis = millis();
|
||||
showString(PSTR("ok T:"));
|
||||
Serial.print(PIDAT_input);
|
||||
showString(PSTR(" @:"));
|
||||
Serial.println((unsigned char)PIDAT_PWM_val*1);
|
||||
}
|
||||
|
||||
if(((millis() - PIDAT_t1) + (millis() - PIDAT_t2)) > (10L*60L*1000L*2L))
|
||||
{
|
||||
showString(PSTR("PID Autotune failed! timeout\r\n"));
|
||||
return;
|
||||
}
|
||||
|
||||
if(PIDAT_cycles > 5)
|
||||
{
|
||||
showString(PSTR("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h\r\n"));
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
//---------------- END AUTOTUNE PID ------------------------------
|
||||
|
||||
void updatePID()
|
||||
{
|
||||
#ifdef PIDTEMP
|
||||
temp_iState_min = (256L * -PID_INTEGRAL_DRIVE_MAX) / PID_Ki;
|
||||
temp_iState_max = (256L * PID_INTEGRAL_DRIVE_MAX) / PID_Ki;
|
||||
#endif
|
||||
}
|
||||
|
||||
void manage_heater()
|
||||
{
|
||||
|
|
@ -247,6 +513,8 @@ int read_max6675()
|
|||
if((millis() - previous_millis_monitor) > 250 )
|
||||
{
|
||||
previous_millis_monitor = millis();
|
||||
|
||||
|
||||
if(manage_monitor <= 1)
|
||||
{
|
||||
showString(PSTR("MTEMP:"));
|
||||
|
|
@ -378,7 +646,7 @@ int read_max6675()
|
|||
int delta_temp = current_temp - prev_temp;
|
||||
|
||||
prev_temp = current_temp;
|
||||
pTerm = ((long)PID_PGAIN * error) / 256;
|
||||
pTerm = ((long)PID_Kp * error) / 256;
|
||||
const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT);
|
||||
heater_duty = H0 + pTerm;
|
||||
|
||||
|
|
@ -386,7 +654,7 @@ int read_max6675()
|
|||
{
|
||||
temp_iState += error;
|
||||
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
|
||||
iTerm = ((long)PID_IGAIN * temp_iState) / 256;
|
||||
iTerm = ((long)PID_Ki * temp_iState) / 256;
|
||||
heater_duty += iTerm;
|
||||
}
|
||||
|
||||
|
|
@ -397,7 +665,7 @@ int read_max6675()
|
|||
if(prev_error > 9){ prev_error /= 9; log3 += 2; }
|
||||
if(prev_error > 3){ prev_error /= 3; log3 ++; }
|
||||
|
||||
dTerm = ((long)PID_DGAIN * delta_temp) / (256*log3);
|
||||
dTerm = ((long)PID_Kd * delta_temp) / (256*log3);
|
||||
heater_duty += dTerm;
|
||||
heater_duty = constrain(heater_duty, 0, HEATER_CURRENT);
|
||||
|
||||
|
|
@ -491,6 +759,10 @@ int read_max6675()
|
|||
controllerFan(); //Check if fan should be turned on to cool stepper drivers down
|
||||
#endif
|
||||
|
||||
#ifdef EXTRUDERFAN_PIN
|
||||
extruderFan(); //Check if fan should be turned on to cool extruder down
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
|
||||
|
|
@ -601,3 +873,24 @@ void controllerFan()
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef EXTRUDERFAN_PIN
|
||||
unsigned long lastExtruderCheck = 0;
|
||||
|
||||
void extruderFan()
|
||||
{
|
||||
if ((millis() - lastExtruderCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
|
||||
{
|
||||
lastExtruderCheck = millis();
|
||||
|
||||
if (analog2temp(current_raw) < EXTRUDERFAN_DEC)
|
||||
{
|
||||
WRITE(EXTRUDERFAN_PIN, LOW); //... turn the fan off
|
||||
}
|
||||
else
|
||||
{
|
||||
WRITE(EXTRUDERFAN_PIN, HIGH); //... turn the fan on
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
|
|||
|
|
@ -88,8 +88,13 @@ extern unsigned char manage_monitor;
|
|||
extern int dTerm;
|
||||
extern int error;
|
||||
extern int heater_duty;
|
||||
|
||||
extern unsigned int PID_Kp, PID_Ki, PID_Kd;
|
||||
#endif
|
||||
|
||||
#if defined(FAN_SOFT_PWM) && (FAN_PIN > -1)
|
||||
extern volatile unsigned char g_fan_pwm_val;
|
||||
#endif
|
||||
|
||||
#ifdef AUTOTEMP
|
||||
extern float autotemp_max;
|
||||
|
|
@ -112,8 +117,16 @@ extern unsigned char manage_monitor;
|
|||
|
||||
|
||||
|
||||
#ifdef PID_SOFT_PWM
|
||||
#if defined(PID_SOFT_PWM) || (defined(FAN_SOFT_PWM) && (FAN_PIN > -1))
|
||||
void init_Timer2_softpwm(void);
|
||||
#endif
|
||||
|
||||
#ifdef PID_AUTOTUNE
|
||||
void PID_autotune(int PIDAT_test_temp);
|
||||
#endif
|
||||
|
||||
#ifdef PIDTEMP
|
||||
void updatePID();
|
||||
#endif
|
||||
|
||||
void manage_heater();
|
||||
|
|
|
|||
|
|
@ -181,7 +181,7 @@
|
|||
#if MOTHERBOARD == 2
|
||||
#define KNOWN_BOARD 1
|
||||
|
||||
#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega1284P__)
|
||||
#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega1284P__) && !defined(__ATmega644P__) && !defined(__ATmega1284P__)
|
||||
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
|
||||
#endif
|
||||
|
||||
|
|
@ -598,6 +598,11 @@
|
|||
* Gen6 pin assignment
|
||||
*
|
||||
****************************************************************************************/
|
||||
#if MOTHERBOARD == 51
|
||||
#define MOTHERBOARD 5
|
||||
#define GEN6_DELUXE
|
||||
#endif
|
||||
|
||||
#if MOTHERBOARD == 5
|
||||
#define KNOWN_BOARD 1
|
||||
|
||||
|
|
@ -632,13 +637,18 @@
|
|||
#define E_ENABLE_PIN 3 //Added @ EJE Electronics 20100715
|
||||
#define TEMP_0_PIN 5 //changed @ rkoeppl 20110410
|
||||
#define HEATER_0_PIN 14 //changed @ rkoeppl 20110410
|
||||
#define HEATER_1_PIN -1 //changed @ rkoeppl 20110410
|
||||
|
||||
#ifdef GEN6_DELUXE
|
||||
#define HEATER_1_PIN 1
|
||||
#define TEMP_1_PIN 0
|
||||
#else
|
||||
#define HEATER_1_PIN -1
|
||||
#define TEMP_1_PIN -1
|
||||
#endif
|
||||
|
||||
#define SDPOWER -1
|
||||
#define SDSS 17
|
||||
#define LED_PIN -1 //changed @ rkoeppl 20110410
|
||||
#define TEMP_1_PIN -1 //changed @ rkoeppl 20110410
|
||||
#define FAN_PIN -1 //changed @ rkoeppl 20110410
|
||||
#define PS_ON_PIN -1 //changed @ rkoeppl 20110410
|
||||
//our pin for debugging.
|
||||
|
|
|
|||
|
|
@ -23,27 +23,30 @@
|
|||
#include "store_eeprom.h"
|
||||
#include "Configuration.h"
|
||||
|
||||
#ifdef PIDTEMP
|
||||
extern unsigned int PID_Kp, PID_Ki, PID_Kd;
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef USE_EEPROM_SETTINGS
|
||||
|
||||
//======================================================================================
|
||||
//========================= Read / Write EEPROM =======================================
|
||||
template <class T> int EEPROM_writeAnything(int &ee, const T& value)
|
||||
template <class T> int EEPROM_write_setting(int address, const T& value)
|
||||
{
|
||||
const byte* p = (const byte*)(const void*)&value;
|
||||
int i;
|
||||
for (i = 0; i < (int)sizeof(value); i++)
|
||||
eeprom_write_byte((unsigned char *)ee++, *p++);
|
||||
eeprom_write_byte((unsigned char *)address++, *p++);
|
||||
return i;
|
||||
}
|
||||
|
||||
template <class T> int EEPROM_readAnything(int &ee, T& value)
|
||||
template <class T> int EEPROM_read_setting(int address, T& value)
|
||||
{
|
||||
byte* p = (byte*)(void*)&value;
|
||||
int i;
|
||||
for (i = 0; i < (int)sizeof(value); i++)
|
||||
*p++ = eeprom_read_byte((unsigned char *)ee++);
|
||||
*p++ = eeprom_read_byte((unsigned char *)address++);
|
||||
return i;
|
||||
}
|
||||
//======================================================================================
|
||||
|
|
@ -51,34 +54,34 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
|
|||
|
||||
void EEPROM_StoreSettings()
|
||||
{
|
||||
|
||||
unsigned long ul_help = 20000;
|
||||
unsigned int ui_help = 0;
|
||||
char ver[4]= "000";
|
||||
int i=EEPROM_OFFSET;
|
||||
EEPROM_writeAnything(i,ver); // invalidate data first
|
||||
EEPROM_writeAnything(i,axis_steps_per_unit);
|
||||
EEPROM_writeAnything(i,max_feedrate);
|
||||
EEPROM_writeAnything(i,max_acceleration_units_per_sq_second);
|
||||
EEPROM_writeAnything(i,move_acceleration);
|
||||
EEPROM_writeAnything(i,retract_acceleration);
|
||||
EEPROM_writeAnything(i,minimumfeedrate);
|
||||
EEPROM_writeAnything(i,mintravelfeedrate);
|
||||
EEPROM_writeAnything(i,ul_help); //Min Segment Time, not used yet
|
||||
EEPROM_writeAnything(i,max_xy_jerk);
|
||||
EEPROM_writeAnything(i,max_z_jerk);
|
||||
EEPROM_write_setting(EEPROM_OFFSET, ver); // invalidate data first
|
||||
EEPROM_write_setting(axis_steps_per_unit_address, axis_steps_per_unit);
|
||||
EEPROM_write_setting(max_feedrate_address, max_feedrate);
|
||||
EEPROM_write_setting(max_acceleration_units_per_sq_second_address, max_acceleration_units_per_sq_second);
|
||||
EEPROM_write_setting(move_acceleration_address, move_acceleration);
|
||||
EEPROM_write_setting(retract_acceleration_address, retract_acceleration);
|
||||
EEPROM_write_setting(minimumfeedrate_address, minimumfeedrate);
|
||||
EEPROM_write_setting(mintravelfeedrate_address, mintravelfeedrate);
|
||||
EEPROM_write_setting(min_seg_time_address, min_seg_time); //Min Segment Time, not used yet
|
||||
EEPROM_write_setting(max_xy_jerk_address, max_xy_jerk);
|
||||
EEPROM_write_setting(max_z_jerk_address, max_z_jerk);
|
||||
EEPROM_write_setting(max_e_jerk_address, max_e_jerk);
|
||||
|
||||
//PID Settings, not used yet --> placeholder
|
||||
ui_help = 2560;
|
||||
EEPROM_writeAnything(i,ui_help); //Kp
|
||||
ui_help = 64;
|
||||
EEPROM_writeAnything(i,ui_help); //Ki
|
||||
ui_help = 4096;
|
||||
EEPROM_writeAnything(i,ui_help); //Kd
|
||||
//PID Settings
|
||||
#ifdef PIDTEMP
|
||||
EEPROM_write_setting(Kp_address, PID_Kp); //Kp
|
||||
EEPROM_write_setting(Ki_address, PID_Ki); //Ki
|
||||
EEPROM_write_setting(Kd_address, PID_Kd); //Kd
|
||||
#else
|
||||
EEPROM_write_setting(Kp_address, 2048); //Kp
|
||||
EEPROM_write_setting(Ki_address, 32); //Ki
|
||||
EEPROM_write_setting(Kd_address, 2048); //Kd
|
||||
#endif
|
||||
|
||||
|
||||
char ver2[4]=EEPROM_VERSION;
|
||||
i=EEPROM_OFFSET;
|
||||
EEPROM_writeAnything(i,ver2); // validate data
|
||||
EEPROM_write_setting(EEPROM_OFFSET, ver2); // validate data
|
||||
showString(PSTR("Settings Stored\r\n"));
|
||||
|
||||
}
|
||||
|
|
@ -86,7 +89,6 @@ void EEPROM_StoreSettings()
|
|||
|
||||
void EEPROM_printSettings()
|
||||
{
|
||||
// if def=true, the default values will be used
|
||||
#ifdef PRINT_EEPROM_SETTING
|
||||
showString(PSTR("Steps per unit:\r\n"));
|
||||
showString(PSTR(" M92 X"));
|
||||
|
|
@ -99,7 +101,7 @@ void EEPROM_printSettings()
|
|||
Serial.println(axis_steps_per_unit[3]);
|
||||
|
||||
showString(PSTR("Maximum feedrates (mm/s):\r\n"));
|
||||
showString(PSTR(" M203 X"));
|
||||
showString(PSTR(" M202 X"));
|
||||
Serial.print(max_feedrate[0]);
|
||||
showString(PSTR(" Y"));
|
||||
Serial.print(max_feedrate[1]);
|
||||
|
|
@ -124,29 +126,32 @@ void EEPROM_printSettings()
|
|||
showString(PSTR(" T"));
|
||||
Serial.println(retract_acceleration);
|
||||
|
||||
showString(PSTR("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), X=maximum xY jerk (mm/s), Z=maximum Z jerk (mm/s)\r\n"));
|
||||
showString(PSTR("Advanced variables (mm/s): S=Min feedrate, T=Min travel feedrate, X=max xY jerk, Z=max Z jerk, E=max E jerk\r\n"));
|
||||
|
||||
showString(PSTR(" M205 S"));
|
||||
Serial.print(minimumfeedrate );
|
||||
showString(PSTR(" T" ));
|
||||
Serial.print(mintravelfeedrate );
|
||||
// showString(PSTR(" B"));
|
||||
// Serial.print(minsegmenttime );
|
||||
// Serial.print(min_seg_time );
|
||||
showString(PSTR(" X"));
|
||||
Serial.print(max_xy_jerk );
|
||||
showString(PSTR(" Z"));
|
||||
Serial.println(max_z_jerk);
|
||||
Serial.print(max_z_jerk);
|
||||
showString(PSTR(" E"));
|
||||
Serial.println(max_e_jerk);
|
||||
|
||||
|
||||
#ifdef PIDTEMP
|
||||
/*
|
||||
showString(PSTR("PID settings:");
|
||||
showString(PSTR(" M301 P"));
|
||||
Serial.print(Kp);
|
||||
|
||||
showString(PSTR("PID settings:\r\n"));
|
||||
showString(PSTR(" M301 P"));
|
||||
Serial.print(PID_Kp);
|
||||
showString(PSTR(" I"));
|
||||
Serial.print(Ki);
|
||||
SshowString(PSTR(" D"));
|
||||
Serial.print(Kd);
|
||||
*/
|
||||
Serial.print(PID_Ki);
|
||||
showString(PSTR(" D"));
|
||||
Serial.println(PID_Kd);
|
||||
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
|
@ -159,26 +164,27 @@ void EEPROM_RetrieveSettings(bool def, bool printout)
|
|||
int i=EEPROM_OFFSET;
|
||||
char stored_ver[4];
|
||||
char ver[4]=EEPROM_VERSION;
|
||||
unsigned long ul_help = 0;
|
||||
|
||||
EEPROM_readAnything(i,stored_ver); //read stored version
|
||||
if ((!def)&&(strncmp(ver,stored_ver,3)==0))
|
||||
EEPROM_read_setting(EEPROM_OFFSET,stored_ver); //read stored version
|
||||
if ((!def)&&(strncmp(ver,stored_ver,3)==0))
|
||||
{ // version number match
|
||||
EEPROM_readAnything(i,axis_steps_per_unit);
|
||||
EEPROM_readAnything(i,max_feedrate);
|
||||
EEPROM_readAnything(i,max_acceleration_units_per_sq_second);
|
||||
EEPROM_readAnything(i,move_acceleration);
|
||||
EEPROM_readAnything(i,retract_acceleration);
|
||||
EEPROM_readAnything(i,minimumfeedrate);
|
||||
EEPROM_readAnything(i,mintravelfeedrate);
|
||||
EEPROM_readAnything(i,ul_help); //min Segmenttime --> not used yet
|
||||
EEPROM_readAnything(i,max_xy_jerk);
|
||||
EEPROM_readAnything(i,max_z_jerk);
|
||||
EEPROM_read_setting(axis_steps_per_unit_address, axis_steps_per_unit);
|
||||
EEPROM_read_setting(max_feedrate_address, max_feedrate);
|
||||
EEPROM_read_setting(max_acceleration_units_per_sq_second_address, max_acceleration_units_per_sq_second);
|
||||
EEPROM_read_setting(move_acceleration_address, move_acceleration);
|
||||
EEPROM_read_setting(retract_acceleration_address, retract_acceleration);
|
||||
EEPROM_read_setting(minimumfeedrate_address, minimumfeedrate);
|
||||
EEPROM_read_setting(mintravelfeedrate_address, mintravelfeedrate);
|
||||
EEPROM_read_setting(min_seg_time_address, min_seg_time); //min Segmenttime --> not used yet
|
||||
EEPROM_read_setting(max_xy_jerk_address, max_xy_jerk);
|
||||
EEPROM_read_setting(max_z_jerk_address, max_z_jerk);
|
||||
EEPROM_read_setting(max_e_jerk_address, max_e_jerk);
|
||||
|
||||
unsigned int Kp,Ki,Kd;
|
||||
EEPROM_readAnything(i,Kp);
|
||||
EEPROM_readAnything(i,Ki);
|
||||
EEPROM_readAnything(i,Kd);
|
||||
#ifdef PIDTEMP
|
||||
EEPROM_read_setting(Kp_address, PID_Kp);
|
||||
EEPROM_read_setting(Ki_address, PID_Ki);
|
||||
EEPROM_read_setting(Kd_address, PID_Kd);
|
||||
#endif
|
||||
|
||||
showString(PSTR("Stored settings retreived\r\n"));
|
||||
}
|
||||
|
|
@ -200,10 +206,18 @@ void EEPROM_RetrieveSettings(bool def, bool printout)
|
|||
mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE;
|
||||
max_xy_jerk=_MAX_XY_JERK;
|
||||
max_z_jerk=_MAX_Z_JERK;
|
||||
max_e_jerk=_MAX_E_JERK;
|
||||
min_seg_time=_MIN_SEG_TIME;
|
||||
|
||||
#ifdef PIDTEMP
|
||||
PID_Kp = PID_PGAIN;
|
||||
PID_Ki = PID_IGAIN;
|
||||
PID_Kd = PID_DGAIN;
|
||||
#endif
|
||||
|
||||
showString(PSTR("Using Default settings\r\n"));
|
||||
}
|
||||
|
||||
|
||||
if(printout)
|
||||
{
|
||||
EEPROM_printSettings();
|
||||
|
|
|
|||
|
|
@ -27,7 +27,7 @@
|
|||
// the default values are used whenever there is a change to the data, to prevent
|
||||
// wrong data being written to the variables.
|
||||
// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
|
||||
#define EEPROM_VERSION "S01"
|
||||
#define EEPROM_VERSION "S03"
|
||||
|
||||
|
||||
extern float axis_steps_per_unit[4];
|
||||
|
|
@ -39,7 +39,23 @@ extern float mintravelfeedrate;
|
|||
extern float minimumfeedrate;
|
||||
extern float max_xy_jerk;
|
||||
extern float max_z_jerk;
|
||||
extern float max_e_jerk;
|
||||
extern unsigned long min_seg_time;
|
||||
|
||||
#define axis_steps_per_unit_address (EEPROM_OFFSET + 4*sizeof(char))
|
||||
#define max_feedrate_address (axis_steps_per_unit_address + 4*sizeof(float))
|
||||
#define max_acceleration_units_per_sq_second_address (max_feedrate_address + 4*sizeof(float))
|
||||
#define move_acceleration_address (max_acceleration_units_per_sq_second_address + 4*sizeof(long))
|
||||
#define retract_acceleration_address (move_acceleration_address + sizeof(float))
|
||||
#define mintravelfeedrate_address (retract_acceleration_address + sizeof(float))
|
||||
#define minimumfeedrate_address (mintravelfeedrate_address + sizeof(float))
|
||||
#define max_xy_jerk_address (minimumfeedrate_address + sizeof(float))
|
||||
#define max_z_jerk_address (max_xy_jerk_address + sizeof(float))
|
||||
#define max_e_jerk_address (max_z_jerk_address + sizeof(float))
|
||||
#define min_seg_time_address (max_e_jerk_address + sizeof(float))
|
||||
#define Kp_address (min_seg_time_address + sizeof(unsigned long))
|
||||
#define Ki_address (Kp_address + sizeof(unsigned int))
|
||||
#define Kd_address (Ki_address + sizeof(unsigned int))
|
||||
|
||||
extern void EEPROM_RetrieveSettings(bool def, bool printout );
|
||||
extern void EEPROM_printSettings();
|
||||
|
|
|
|||
|
|
@ -423,4 +423,4 @@ const short temptable_7[NUMTEMPS_7][2] = {
|
|||
#error No bed thermistor table specified
|
||||
#endif
|
||||
|
||||
#endif //THERMISTORTABLES_H_
|
||||
#endif //THERMISTORTABLES_H_
|
||||
|
|
|
|||
Loading…
Reference in a new issue